Online automatic welding equipment and welding operation method for a small group of stand-alone robots

Abstract

The invention is an online automatic welding equipment for a small group of vertical robots, which includes a welding gantry, a linear guide rail, a servo motor, a robot, a sensor fixing bracket, a 3D line laser scanning sensor and a host computer; a robot and a sensor are fixedly connected to the welding gantry. The bracket, the sensor fixing bracket is arranged horizontally and perpendicular to the moving direction of the welding gantry, and the sensor fixing bracket is equipped with a 3D line laser scanning sensor. The movement of the welding gantry drives the 3D line laser scanning sensor to scan the welding area to obtain point cloud data, reconstruct the model of the point cloud data, generate a robot execution program, and the robot performs welding. Also disclosed is a welding operation method. The invention can realize the establishment of a small group of vertical workpiece models with arbitrary shapes, and improves the efficiency of welding operation generation and robot operation.

Description

technical field [0001] The invention relates to robot welding, in particular to an online automatic welding equipment and a welding operation method for a small stand-alone robot. Background technique [0002] In the process of shipbuilding, there are a large number of small-group welding operations of vertical workpieces, and the workload accounts for more than 15% of the overall welding workload of the entire shipyard. At present, most of the small-group welding operations in shipyards still use manual welding. With the development of science and technology With the development, robot welding technology has been able to automatically weld multi-rule and non-standard ship components. [0003] Robot automatic welding is divided into three stages. The first stage is robot welding in the form of teaching. At this stage, the robot uses a fixed teaching program and performs fixed operations. The operation accuracy is high but the operation content is not changeable. It is suitab...

AI Technical Summary

Problems solved by technology

[0004] According to the actual requirements of robot development and group welding in the shipbuilding industry at the present stage, robot welding in the form of teaching cannot complete group stand-up automatic welding. Some shipyards in China have completed the construction and put into operation of ship group stand-up robot automatic welding production lines, but they need to be equipped with professional Programmers perform real-time program updates. At present, the relevant technologies for automatic welding of small-scale robots in the shipbuilding industry are still blank. This invention can provide data models for online programming of robots, and automatically plan welding paths and robot poses according to the models.

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